本文選題：人工物料搬運(yùn) + 輔助裝備�。� 參考：《浙江大學(xué)》2016年博士論文

【摘要】：盡管自動(dòng)化設(shè)備在物流和制造業(yè)中已經(jīng)廣泛應(yīng)用,人工物料搬運(yùn)在人們的生產(chǎn)和生活中依然普遍存在,成為導(dǎo)致職業(yè)性肌肉骨骼傷害的重要因素。合理使用搬運(yùn)輔助裝備是降低勞動(dòng)受傷風(fēng)險(xiǎn)、保護(hù)勞動(dòng)者人身安全和提高作業(yè)效率的有效手段。隨著機(jī)械化程度的提高,各類搬運(yùn)和負(fù)重裝備已經(jīng)應(yīng)用于制造業(yè)和其他需求較高的行業(yè)如物流、醫(yī)療和緊急救援等。在不斷追求工作效率的同時(shí),輔助裝備的便攜性和通用性成為近年來熱點(diǎn)研究問題。本文從減輕工作負(fù)荷、降低損傷風(fēng)險(xiǎn)需求出發(fā),結(jié)合人工搬運(yùn)生物力學(xué)理論基礎(chǔ)和人機(jī)工程實(shí)驗(yàn),探索不同搬舉相位內(nèi)外部受力模式,制定了針對(duì)手部、背部和腿部的力傳導(dǎo)輔助策略,以基于薄膜傳感技術(shù)的鞋內(nèi)置壓力檢測系統(tǒng)為人機(jī)接口,設(shè)計(jì)研制了一套柔性穿戴式搬運(yùn)輔助裝備WLCD,并對(duì)該裝備實(shí)際輔助效果進(jìn)行人機(jī)工程評(píng)價(jià)研究。本文的主要研究內(nèi)容包括:(1)結(jié)合了人工物料搬運(yùn)生物力學(xué)模型和人機(jī)工程實(shí)驗(yàn),進(jìn)行關(guān)節(jié)運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)分析、手部施力分析和表面肌電分析,研究了基于人機(jī)工程學(xué)的人工搬運(yùn)影響因子,為引入力傳導(dǎo)方法制定輔助策略提供了理論和實(shí)驗(yàn)依據(jù)。(2)研制了基于薄膜壓力傳感器和關(guān)節(jié)角度測量的人體運(yùn)動(dòng)信息測量系統(tǒng)iPPS,實(shí)施基于足底壓力分布的步態(tài)實(shí)驗(yàn),研究足壓信息與關(guān)節(jié)角度映射關(guān)系,引入基因表達(dá)式編程算法建立了下肢關(guān)節(jié)角度預(yù)測模型,并依據(jù)模型對(duì)iPPS傳感器排布進(jìn)行優(yōu)化,為輔助裝備人機(jī)和諧控制提供了人機(jī)接口和數(shù)據(jù)支撐。(3)分析了搬運(yùn)輔助裝備用戶需求,將“以人為中心”思想作為出發(fā)點(diǎn),人工搬運(yùn)指導(dǎo)原則作為設(shè)計(jì)要素,采用重心轉(zhuǎn)移、力量轉(zhuǎn)移和能量轉(zhuǎn)移三種輔助技術(shù),進(jìn)行輔助狀態(tài)下人體各關(guān)節(jié)受力情況分析,制定了輔助裝備助力方式和途徑。利用Rhino軟件進(jìn)行裝備本體結(jié)構(gòu)設(shè)計(jì),對(duì)所需作動(dòng)器、功能材料進(jìn)行參數(shù)對(duì)比和選型,研制開發(fā)了柔性穿戴式搬運(yùn)輔助裝備樣機(jī)原型。(4)評(píng)估了該輔助裝備在重復(fù)抬舉作業(yè)、抬舉能力實(shí)驗(yàn)和持重搬運(yùn)作業(yè)三種作業(yè)模式下的輔助效能,融合主客觀聯(lián)動(dòng)與心理物理學(xué)方法進(jìn)行人機(jī)工程評(píng)測研究,結(jié)果表明搬運(yùn)輔助裝備在一定程度上減低了背部肌肉負(fù)荷、氧消耗和心率儲(chǔ)備率,同時(shí)主觀評(píng)價(jià)顯示搬運(yùn)較重物體時(shí)裝備具有明顯的輔助作用。
[Abstract]:Although automation equipment has been widely used in logistics and manufacturing, artificial material handling is still widespread in people's production and daily life, and has become an important factor leading to occupational musculoskeletal injury. Reasonable use of handling auxiliary equipment is an effective means to reduce the risk of labor injury, to protect the personal safety of workers and to improve the working efficiency. With the increase of mechanization, all kinds of handling and loading equipment have been applied in manufacturing and other industries with high demand, such as logistics, medical treatment and emergency rescue. In pursuit of working efficiency, the portability and versatility of auxiliary equipment has become a hot research issue in recent years. In order to reduce the workload and reduce the risk of injury, combined with the theory of manual transport biomechanics and ergonomics experiments, this paper explores the internal and external stress modes of different lifting phases, and formulates the internal and external stress modes for the hand. The force conduction assistant strategy for the back and legs is based on the in-shoe pressure detection system based on thin film sensing technology as the man-machine interface. A set of flexible wearable handling auxiliary equipment WLCD is designed and developed, and the actual auxiliary effect of the equipment is evaluated by ergonomics. The main research contents of this paper include: (1) combining the biomechanical model of artificial material handling with ergonomics experiments, the kinematics and dynamics analysis of joint, hand force analysis and surface electromyography analysis are carried out. The influence factors of manual handling based on ergonomics are studied. This paper provides a theoretical and experimental basis for introducing force conduction method to formulate auxiliary strategy. A human motion information measurement system, iPPS-based on thin film pressure sensor and joint angle measurement, is developed, and the gait experiment based on plantar pressure distribution is carried out. The relationship between foot pressure information and joint angle mapping is studied. The prediction model of lower limb joint angle is established by introducing gene expression programming algorithm, and the layout of iPPS sensor is optimized according to the model. This paper provides man-machine interface and data support for man-machine harmonious control of auxiliary equipment. It analyzes the user's requirement of handling auxiliary equipment. It takes the idea of "human-centered" as the starting point, the guiding principle of manual handling as the design element, and adopts the center of gravity transfer. Force transfer and energy transfer are three kinds of auxiliary technology, the force condition of every joint of human body is analyzed under auxiliary condition, and the way and method of auxiliary equipment are worked out. The Rhino software is used to design the structure of the equipment body, the parameters of the actuator and the functional material are compared and selected, and the prototype of the flexible wearable handling auxiliary equipment is developed, which is used to evaluate the repeated lifting operation of the auxiliary equipment. The auxiliary effectiveness of lifting capacity experiment and load handling operation is studied by combining subjective and objective linkage with psychophysical methods. The results show that the load of back muscles, oxygen consumption and heart rate reserve rate are reduced to some extent by the moving auxiliary equipment. The subjective evaluation also shows that the equipment has obvious auxiliary effect when moving heavy objects.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TB18

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